Stock Incentive Plans - Summary of RSU Activity (Details) - $ / shares	3 Months Ended
	Mar. 31, 2023	Mar. 31, 2022
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Number of Options, Outstanding at Beginning Balance	9,865,734
Number of Options, Granted	2,843,950
Number of Options, Outstanding at Ending Balance	12,604,291
Weighted-average grant date fair value per share for options granted	$ 1.06	$ 1.78
RSU Member
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Number of Options, Outstanding at Beginning Balance	543,179
Number of Options, Granted	483,850
RSU Vested	(194,525)
RSU, Forfeited	(9,958)
Number of Options, Outstanding at Ending Balance	822,546
Weighted-Average Grant Date Fair Value, Outstanding	$ 6.12
Weighted-average grant date fair value per share for options granted	1.60
Weighted-Average Grant Date Fair Value, Vested	7.25
Weighted-Average Grant Date Fair Value, Forfeited	5.52
Weighted-Average Grant Date Fair Value, Outstanding	$ 3.20